tf2 static tf
Table of Content
static tf broadcast
ros2 run tf2_ros static_transform_publisher \
x y z \
yaw pitch roll \
parent_frame \
child_frame
Demo
Broadcast two robot tf frame relative to world frame
# world robot1
ros2 run tf2_ros static_transform_publisher 2 1 0 0 0 0 world robot_1
# world robot2
ros2 run tf2_ros static_transform_publisher 4 -2 0 0 0 0 world robot_2
echo
check the matrix between two frames
ros2 run tf2_ros tf2_echo robot_1 robot_2
At time 0.0
- Translation: [2.000, -3.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
- Rotation: in RPY (radian) [0.000, -0.000, 0.000]
- Rotation: in RPY (degree) [0.000, -0.000, 0.000]
- Matrix:
1.000 0.000 0.000 2.000
0.000 1.000 0.000 -3.000
0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000
tf tree
ros2 run rqt_tf_tree rqt_tf_tree
rviz
topic
ros2 topic list
#
/parameter_events
/rosout
/tf_static
ros2 topic echo /tf_static
# publish one message because it's static tf
#ros2 topic info /tf_static
#Type: tf2_msgs/msg/TFMessage
transforms:
- header:
stamp:
sec: 1665725225
nanosec: 204816367
frame_id: world
child_frame_id: robot_1
transform:
translation:
x: 2 .0
y: 1 .0
z: 0 .0
rotation:
x: 0 .0
y: 0 .0
z: 0 .0
w: 1 .0
---
transforms:
- header:
stamp:
sec: 1665725576
nanosec: 941586267
frame_id: world
child_frame_id: robot_2
transform:
translation:
x: 4 .0
y: -2.0
z: 0 .0
rotation:
x: 0 .0
y: 0 .0
z: 0 .0
w: 1 .0
Reference
